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Got GoRPC on Head working

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This commit is contained in:
AlexanderHD27
2025-01-08 01:00:13 +01:00
parent 89f494ba58
commit 0b620a76ca
12 changed files with 124 additions and 47 deletions
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9
stone-dispencer-control/firmware-stone-dispencer/include/headSystem.hpp
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@@ -1,5 +1,5 @@
#pragma once
#include "pinConfig.hpp"
#include "pinConfigNode.hpp"
#include "FreeRTOS.h"
#include "queue.h"
#include "semphr.h"
@@ -36,8 +36,5 @@ public:
STONE_STATE dropSequence();
void vHeadTask();
};
void vHeadTask();
};

13
stone-dispencer-control/firmware-stone-dispencer/include/pinConfig.hpp → stone-dispencer-control/firmware-stone-dispencer/include/pinConfigNode.hpp
View File

@@ -12,10 +12,15 @@
#define LED2_PIN 16
#define BUTTON_PIN 20
#define GOBOTRPC_SCL_PIN 5
#define GOBOTRPC_SDA_PIN 4
#define GOBOTRPC_INT_PIN 2
// GoRPC Config
#define GORPC_INT_PIN 2
#define GORPC_SDA_PIN 4
#define GORPC_SCL_PIN 5
#define I2C_ADDR 0x22
#define CORE_MASK_GOBOTRPC 0b01
#define CORE_MASK_HEAD 0b01
// Pwm Config
@@ -43,7 +48,7 @@
// Chopper States
#define CHOPPER1_OPEN MOTOR_MS18_MID - 400
#define CHOPPER1_CLOSE MOTOR_MS18_MID + 40
#define CHOPPER1_CLOSE MOTOR_MS18_MID + 20
#define CHOPPER2_OPEN MOTOR_MS18_MID + 375
#define CHOPPER2_CLOSE MOTOR_MS18_MID + 30